Per the definition of SCORED:
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SCORED: A DISC is considered SCORED in an ALLIANCE’S GOAL if any part of the DISC has crossed through the opening of the GOAL, is in the GOAL at the end of the MATCH, and the DISC is not in contact with any ROBOT from that ALLIANCE. Additionally, for a DISC to be considered SCORED in an ALLIANCE’S PYRAMID GOAL, it must correspond to the PYRAMID color.
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Since disc colour only must correspond to the pyramid, I think it would be safe to assume that you can score the other alliance's coloured discs in your own non-pyramid goal.